| {
|
| "codebase_version": "v2.1",
|
| "robot_type": "piperx_bimanual_eef_6d",
|
| "total_episodes": 155,
|
| "total_frames": 60656,
|
| "total_tasks": 1,
|
| "total_videos": 465,
|
| "total_chunks": 1,
|
| "chunks_size": 1000,
|
| "fps": 30,
|
| "splits": {
|
| "train": "0:155"
|
| },
|
| "data_path": "data/piper_stacking_ee_train.tsfile",
|
| "features": {
|
| "Time": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TIME",
|
| "unit": "ms"
|
| },
|
| "episode_index": {
|
| "dtype": "string",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG",
|
| "source_dtype": "int64"
|
| },
|
| "task_index": {
|
| "dtype": "string",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "TAG",
|
| "source_dtype": "int64"
|
| },
|
| "frame_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "sample_index": {
|
| "dtype": "int64",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_0": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_1": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_2": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_3": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_4": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_5": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_6": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_7": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_8": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_9": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_10": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_11": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_12": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_13": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_14": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_15": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_16": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_17": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_18": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "observation_state_19": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_0": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_1": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_2": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_3": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_4": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_5": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_6": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_7": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_8": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_9": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_10": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_11": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_12": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_13": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_14": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_15": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_16": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_17": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_18": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| },
|
| "action_19": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "tsfile_role": "FIELD"
|
| }
|
| },
|
| "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| "tsfile_conversion": {
|
| "source_dataset": "axiboai/piper_stacking_ee",
|
| "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| "converted_data_path": "data/piper_stacking_ee_train.tsfile",
|
| "table_name": "piper_stacking_ee_train",
|
| "granularity": "per_split",
|
| "time_precision": "ms",
|
| "time_mapping": {
|
| "source": "timestamp",
|
| "formula": "round(timestamp * 1000)",
|
| "fps": 30,
|
| "unit": "milliseconds"
|
| },
|
| "tag_columns": [
|
| "episode_index",
|
| "task_index"
|
| ],
|
| "row_count": 60656,
|
| "feature_source": "features describe the converted TsFile schema",
|
| "flattened_features": {
|
| "observation.state": [
|
| "observation_state_0",
|
| "observation_state_1",
|
| "observation_state_2",
|
| "observation_state_3",
|
| "observation_state_4",
|
| "observation_state_5",
|
| "observation_state_6",
|
| "observation_state_7",
|
| "observation_state_8",
|
| "observation_state_9",
|
| "observation_state_10",
|
| "observation_state_11",
|
| "observation_state_12",
|
| "observation_state_13",
|
| "observation_state_14",
|
| "observation_state_15",
|
| "observation_state_16",
|
| "observation_state_17",
|
| "observation_state_18",
|
| "observation_state_19"
|
| ],
|
| "action": [
|
| "action_0",
|
| "action_1",
|
| "action_2",
|
| "action_3",
|
| "action_4",
|
| "action_5",
|
| "action_6",
|
| "action_7",
|
| "action_8",
|
| "action_9",
|
| "action_10",
|
| "action_11",
|
| "action_12",
|
| "action_13",
|
| "action_14",
|
| "action_15",
|
| "action_16",
|
| "action_17",
|
| "action_18",
|
| "action_19"
|
| ]
|
| },
|
| "renamed_features": {
|
| "index": "sample_index"
|
| },
|
| "dropped_features": [
|
| "timestamp"
|
| ],
|
| "omitted_features": [
|
| "observation.images.cam_front",
|
| "observation.images.cam_left_wrist",
|
| "observation.images.cam_right_wrist"
|
| ],
|
| "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| "original_video_features": {
|
| "observation.images.cam_front": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "video.fps": 30,
|
| "video.channels": 3,
|
| "has_audio": false
|
| }
|
| },
|
| "observation.images.cam_left_wrist": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "video.fps": 30,
|
| "video.channels": 3,
|
| "has_audio": false
|
| }
|
| },
|
| "observation.images.cam_right_wrist": {
|
| "dtype": "video",
|
| "shape": [
|
| 480,
|
| 640,
|
| 3
|
| ],
|
| "names": [
|
| "height",
|
| "width",
|
| "channels"
|
| ],
|
| "info": {
|
| "video.height": 480,
|
| "video.width": 640,
|
| "video.codec": "av1",
|
| "video.pix_fmt": "yuv420p",
|
| "video.is_depth_map": false,
|
| "video.fps": 30,
|
| "video.channels": 3,
|
| "has_audio": false
|
| }
|
| }
|
| },
|
| "original_video_source": "https://huggingface.co/datasets/axiboai/piper_stacking_ee/tree/7f79b7c26d815766cf0f6d041edde20e7033e573/videos/chunk-000",
|
| "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
|
| "source_revision": "7f79b7c26d815766cf0f6d041edde20e7033e573",
|
| "original_dataset_url": "https://huggingface.co/datasets/axiboai/piper_stacking_ee",
|
| "source_organization": {
|
| "name": "AXIBO",
|
| "huggingface_user": "axiboai",
|
| "url": "https://huggingface.co/axiboai"
|
| },
|
| "source_author": {
|
| "name": "Ishan Shah",
|
| "huggingface_user": "Ishan-Axibo",
|
| "url": "https://huggingface.co/Ishan-Axibo",
|
| "role": "source uploader/contributor shown in repository history"
|
| },
|
| "episode_file_count": 155,
|
| "episode_count": 155,
|
| "actual_episode_indexes": [
|
| 0,
|
| 1,
|
| 2,
|
| 3,
|
| 4,
|
| 5,
|
| 6,
|
| 7,
|
| 8,
|
| 9,
|
| 10,
|
| 11,
|
| 12,
|
| 13,
|
| 14,
|
| 15,
|
| 16,
|
| 17,
|
| 18,
|
| 19,
|
| 20,
|
| 21,
|
| 22,
|
| 23,
|
| 24,
|
| 25,
|
| 26,
|
| 27,
|
| 28,
|
| 29,
|
| 30,
|
| 31,
|
| 32,
|
| 33,
|
| 34,
|
| 35,
|
| 36,
|
| 37,
|
| 38,
|
| 39,
|
| 40,
|
| 41,
|
| 42,
|
| 43,
|
| 44,
|
| 45,
|
| 46,
|
| 47,
|
| 48,
|
| 49,
|
| 50,
|
| 51,
|
| 52,
|
| 53,
|
| 54,
|
| 55,
|
| 56,
|
| 57,
|
| 58,
|
| 59,
|
| 60,
|
| 61,
|
| 62,
|
| 63,
|
| 64,
|
| 65,
|
| 66,
|
| 67,
|
| 68,
|
| 69,
|
| 70,
|
| 71,
|
| 72,
|
| 73,
|
| 74,
|
| 75,
|
| 76,
|
| 77,
|
| 78,
|
| 79,
|
| 80,
|
| 81,
|
| 82,
|
| 83,
|
| 84,
|
| 85,
|
| 86,
|
| 87,
|
| 88,
|
| 89,
|
| 90,
|
| 91,
|
| 92,
|
| 93,
|
| 94,
|
| 95,
|
| 96,
|
| 97,
|
| 98,
|
| 99,
|
| 100,
|
| 101,
|
| 102,
|
| 103,
|
| 104,
|
| 105,
|
| 106,
|
| 107,
|
| 108,
|
| 109,
|
| 110,
|
| 111,
|
| 112,
|
| 113,
|
| 114,
|
| 115,
|
| 116,
|
| 117,
|
| 118,
|
| 119,
|
| 120,
|
| 121,
|
| 122,
|
| 123,
|
| 124,
|
| 125,
|
| 126,
|
| 127,
|
| 128,
|
| 129,
|
| 130,
|
| 131,
|
| 132,
|
| 133,
|
| 134,
|
| 135,
|
| 136,
|
| 137,
|
| 138,
|
| 139,
|
| 140,
|
| 141,
|
| 142,
|
| 143,
|
| 144,
|
| 145,
|
| 146,
|
| 147,
|
| 148,
|
| 149,
|
| 150,
|
| 151,
|
| 152,
|
| 153,
|
| 154
|
| ],
|
| "task_index_mapping": {
|
| "0": "stack red cube on blue cube"
|
| },
|
| "source_video_file_count": 465,
|
| "source_video_bytes": 1697830668,
|
| "source_video_streams": {
|
| "observation.images.cam_front": {
|
| "files": 155,
|
| "bytes": 652759687
|
| },
|
| "observation.images.cam_left_wrist": {
|
| "files": 155,
|
| "bytes": 585180346
|
| },
|
| "observation.images.cam_right_wrist": {
|
| "files": 155,
|
| "bytes": 459890635
|
| }
|
| },
|
| "encoding": {
|
| "float": "GORILLA",
|
| "double": "GORILLA",
|
| "int32": "TS_2DIFF",
|
| "int64": "TS_2DIFF",
|
| "time": "TS_2DIFF",
|
| "boolean": "RLE"
|
| },
|
| "compression": {
|
| "default": "LZ4",
|
| "time": "LZ4"
|
| },
|
| "frame_video_alignment": "episode_index and frame_index preserve alignment with all three original per-episode camera MP4 streams and the source episode metadata.",
|
| "metadata_tag_storage": "TAG values are stored as STRING by the TsFile table model; source Parquet dtype is INT64."
|
| }
|
| } |
